ES2638186T3 - Drive inverter shared by different engines in a vehicle - Google Patents

Drive inverter shared by different engines in a vehicle Download PDF

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Publication number
ES2638186T3
ES2638186T3 ES14719594.5T ES14719594T ES2638186T3 ES 2638186 T3 ES2638186 T3 ES 2638186T3 ES 14719594 T ES14719594 T ES 14719594T ES 2638186 T3 ES2638186 T3 ES 2638186T3
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Spain
Prior art keywords
vehicle
motors
engines
locomotion
drive unit
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Active
Application number
ES14719594.5T
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Spanish (es)
Inventor
Thomas A. Fuhlbrigge
Carlos Martinez
Harald Joseph STABB
Gregory F. Rossano
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ABB Technology AG
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ABB Technology AG
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/007Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00Electric propulsion with power supplied within the vehicle
    • B60L50/50Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00Electric propulsion with power supplied within the vehicle
    • B60L50/50Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/66Arrangements of batteries
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/18Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/21Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules having the same nominal voltage
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00Type of vehicles
    • B60L2200/40Working vehicles
    • B60L2200/44Industrial trucks or floor conveyors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/40Drive Train control parameters
    • B60L2240/42Drive Train control parameters related to electric machines
    • B60L2240/421Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/40Drive Train control parameters
    • B60L2240/42Drive Train control parameters related to electric machines
    • B60L2240/425Temperature
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00Operating Modes
    • B60L2260/20Drive modes; Transition between modes
    • B60L2260/32Auto pilot mode
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60Electric or hybrid propulsion means for production processes
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/64Electric machine technologies in electromobility
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility

Abstract

Un vehículo que comprende al menos un mecanismo accionado (3, 4, 13, 15, 29) que además comprende: dos o más motores eléctricos (2, 6, 21, 26, 31), uno (2) de dichos dos o más motores utilizados para la locomoción de dicho vehículo y todos los demás (6, 21, 26, 31) de dichos dos o más motores utilizados para otros fines distintos de la locomoción de dicho vehículo, comprendiendo dichos todos los demás (6, 21, 26, 31) de dichos dos o más motores uno o más motores eléctricos conectados a dicho al menos un mecanismo accionado (3, 4, 13, 15, 29) con solo uno de dichos dos o más motores (2, 6, 21, 26, 31) estando alimentado en un momento dado; y al menos una unidad inversora de accionamiento (5, 7, 7b) compartida entre dichos dos o más motores (2, 6, 21, 26, 31) y configurada para proporcionar energía a dicho solo uno de dichos dos o más motores (2, 6, 21, 26, 31) en un momento dado, en donde dicha al menos una unidad inversora de accionamiento (5, 7, 7b) está además configurada para almacenar para cada uno de dichos dos o más motores (2, 6, 21, 26, 31) que no están accionados en dicho momento dado, un conjunto asociado de parámetros y datos de configuración con el fin de proporcionar datos para controlar el vehículo.A vehicle comprising at least one driven mechanism (3, 4, 13, 15, 29) which further comprises: two or more electric motors (2, 6, 21, 26, 31), one (2) of said two or more engines used for the locomotion of said vehicle and all others (6, 21, 26, 31) of said two or more engines used for purposes other than the locomotion of said vehicle, all others comprising (6, 21, 26 , 31) of said two or more motors one or more electric motors connected to said at least one driven mechanism (3, 4, 13, 15, 29) with only one of said two or more motors (2, 6, 21, 26 , 31) being fed at any given time; and at least one inverter drive unit (5, 7, 7b) shared between said two or more motors (2, 6, 21, 26, 31) and configured to provide power to said only one of said two or more motors (2 , 6, 21, 26, 31) at a given time, wherein said at least one inverter drive unit (5, 7, 7b) is further configured to store for each of said two or more motors (2, 6, 21, 26, 31) that are not activated at that given time, an associated set of parameters and configuration data in order to provide data to control the vehicle.

Description

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DESCRIPCIONDESCRIPTION

Inversor de accionamiento compartido por diferentes motores en un vefnculoDrive inverter shared by different engines in a vehicle

1. Campo de la Invencion1. Field of the Invention

Esta invencion se refiere a robots moviles, vefnculos guiados automaticamente (AGVs), camiones industrials o vefnculos controlados remotamente que estan equipados con un brazo de robot u otros mecanismos accionados, en lo sucesivo denominados individualmente o colectivamente como un vefnculo o vefnculos que pueden ser tripulados o no tripulados.This invention relates to mobile robots, automatically guided vehicles (AGVs), industrial trucks or remotely controlled vehicles that are equipped with a robot arm or other driven mechanisms, hereinafter referred to individually or collectively as a vehicle or vehicles that can be manned. or unmanned.

2. Descripcion de la tecnica anterior2. Description of the prior art

Cada vefnculo(s) comprende motores electricos para un mecanismo de locomocion accionada, esto es, motores de locomocion. Los motores de locomocion como los utilizados aqu significan uno o mas motores de traccion y tambien pueden, dependiendo del tipo de vefnculo, incluir ademas uno o mas motores de traccion, uno o mas motores de direccion y uno o mas motores de freno. El vefnculo(s) tambien comprende motores electricos para otros accionadores, un suministro de energfa y un equipo electrico para distribucion de energfa. Los ejemplos tfpicos de suministro de energfa son las batenas, pequenos motores de combustion o transmision de energfa inductiva del terreno. Ejemplos tfpicos de mecanismo de locomocion incluyen peor no se limitan a ruedas accionadas, orugas, ruedas omnidireccionales ("mecanum"), y patas.Each vehicle (s) comprises electric motors for a driven locomotion mechanism, that is, locomotion engines. Locomotion engines such as those used here mean one or more traction engines and may also, depending on the type of vehicle, also include one or more traction engines, one or more steering engines and one or more brake engines. The vehicle (s) also comprises electric motors for other actuators, an energy supply and an electrical equipment for energy distribution. Typical examples of energy supply are batting, small combustion engines or transmission of inductive ground energy. Typical examples of the locomotion mechanism include worse are not limited to driven wheels, tracks, omnidirectional wheels ("mecanum"), and legs.

Las unidades inversoras de accionamiento individuales se utilizan para accionar motores de traccion y direccion, esto es, de locomocion del vefnculo asf como los ejes de los brazos de robot u otros accionadores de alta energfa adicionales, tales como por ejemplo, una plataforma elevadora. El documento WO03055714 A1 describe un vefnculo de traccion electrica que comprende una plataforma de vefnculo, una red de comunicacion, una fuente de energfa montada en la plataforma de vefnculo, una pluralidad de ruedas de accionamiento montadas de manera giratoria en la plataforma del vefnculo, una pluralidad de motores electricos acoplados a las respectivas de la pluralidad de ruedas de accionamiento y una pluralidad de modulos de interfaz basados en microprocesador conectados a una pluralidad de motores electricos. Los modulos de interfaz estan configurados para controlar la pluralidad de motores electricos y estan conectados entre sf por medio de una red de comunicacion.The individual drive inverter units are used to drive traction and steering motors, that is, vehicle locomotion as well as the axes of the robot arms or other additional high energy actuators, such as, for example, a lifting platform. WO03055714 A1 describes an electric drive vehicle comprising a vehicle platform, a communication network, an energy source mounted on the vehicle platform, a plurality of drive wheels rotatably mounted on the vehicle platform, a plurality of electric motors coupled to the respective of the plurality of drive wheels and a plurality of microprocessor-based interface modules connected to a plurality of electric motors. The interface modules are configured to control the plurality of electric motors and are connected to each other by means of a communication network.

El documento XP054975593 muestra un vefnculo automatizado y un brazo de robot movil.Document XP054975593 shows an automated vehicle and a mobile robot arm.

Sumario de la InvencionSummary of the Invention

Un vefnculo tiene dos o mas motores electricos. Uno de los dos o mas motores electricos se utiliza para la locomocion del vefnculo. Todos los demas de los dos o mas motores electricos se utilizan para otros fines distintos a la locomocion del vefnculo con solo uno de los dos o mas motores en uso en un momento dado. El vefnculo tambien tiene al menos una unidad inversora para proporcionar energfa a los dos o mas motores pero solo a ese uno de los dos o mas motores que estan en uso en un momento dado.A vehicle has two or more electric motors. One of the two or more electric motors is used for vehicle locomotion. All other two or more electric motors are used for purposes other than vehicle locomotion with only one of the two or more engines in use at any given time. The vehicle also has at least one inverter unit to provide power to the two or more engines but only that one of the two or more engines that are in use at any given time.

Un vefnculo tiene una multiplicidad de motores electricos. Un numero predeterminado de estos motores se utiliza para proporcionar locomocion al vefnculo y todos los demas de la multiplicidad de motores electricos se utilizan para otros fines distintos de la locomocion del vefnculo. El vefnculo tambien tiene una multiplicidad de unidades inversoras de accionamiento, cada una para proporcionar energfa a uno asociado del numero predeterminado de motores electricos utilizados para proporcionar locomocion al vefnculo y a uno asociado o mas de todos los demas de la multiplicidad de motores electricos utilizados para otros fines distintos de la locomocion del vefnculo pero en un momento dado cada una de la multiplicidad de unidades de inversion de accionamiento proporcionando solo energfa al uno asociado del numero predeterminado de motores electricos que proporcionan locomocion o a uno del uno asociado o mas de los demas motores utilizados para otros fines distintos de la locomocion.A vehicle has a multiplicity of electric motors. A predetermined number of these motors is used to provide vehicle locomotion and all others of the multiplicity of electric motors are used for purposes other than vehicle locomotion. The vehicle also has a multiplicity of drive inverter units, each to provide power to an associated one of the predetermined number of electric motors used to provide locomotion to the vehicle and an associated one or more of all others of the multiplicity of electric motors used for others. purposes other than vehicle locomotion but at any given time each of the multiplicity of drive inversion units providing only energy to the associated one of the predetermined number of electric motors that provide locomotion or to one of the associated one or more of the other motors used for purposes other than locomotion.

Un metodo para alimentar electricamente un vefnculo que tiene dos o mas motores electricos con solo uno de los dos o mas motores electricos en uso en un momento dado y al menos una unidad inversora de accionamiento. En este metodo:A method for electrically feeding a vehicle that has two or more electric motors with only one of the two or more electric motors in use at any given time and at least one inverting drive unit. In this method:

uno de los dos o mas motores se utiliza para la traccion del vefnculo;one of the two or more engines is used to drive the vehicle;

todos los demas de los dos o mas motores son utilizados para fines distintos de la traccion del vefnculo; yall other two or more engines are used for purposes other than vehicle traction; Y

la al menos una unidad inversora de accionamiento para suministrar energfa electrica a los dos o mas motores es compartida entre los dos o mas motores electricos pero la al menos una unidad inversora de accionamiento solo suministra en un momento dado energfa electrica a ese uno de dichos dos o mas motores que estan en uso en dicho momento dado.the at least one inverter drive unit for supplying electric power to the two or more motors is shared between the two or more electric motors but the at least one inverting drive unit only supplies at one given time electric power to that one of said two or more engines that are in use at that given time.

Descripcion de los dibujosDescription of the drawings

La Fig. 1a muestra una vista lateral de una realizacion para un robot movil con ruedas.Fig. 1a shows a side view of an embodiment for a mobile robot with wheels.

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La Fig. 1b muestra una vista inferior del robot mostrado en la Fig. 1a.Fig. 1b shows a bottom view of the robot shown in Fig. 1a.

La Fig. 2a muestra una realizacion para un vehmulo con ruedas quetiene una plataforma de elevacion.Fig. 2a shows an embodiment for a wheeled vehicle that has a lifting platform.

La Fig. 2b muestra un robot montado en una plataforma de elevacion del vehmulo mostrado en la Fig. 2a.Fig. 2b shows a robot mounted on a vehicle lifting platform shown in Fig. 2a.

La Fig. 3 muestra una realizacion en la que una plataforma movil tiene ruedas u orugas en los mecanismos articulados.Fig. 3 shows an embodiment in which a mobile platform has wheels or tracks in the articulated mechanisms.

La Fig. 4 muestra una realizacion en la que una plataforma movil tiene tres o cuatro ruedas omnidireccionales que son ruedas de mecanum cada una con un motor de traccion.Fig. 4 shows an embodiment in which a mobile platform has three or four omnidirectional wheels that are mechanum wheels each with a traction motor.

La Fig. 5 muestra una realizacion en la que el vehmulo tiene mecanismos con patas para la locomocion.Fig. 5 shows an embodiment in which the vehicle has mechanisms with locomotion legs.

Descripcion detalladaDetailed description

La Fig. 1a muestra una vista lateral de una realizacion para un robot movil con ruedas 10 y la Fig. 1b muestra una vista inferior del robot movil 10. Como se muestra en estas figuras, el robot movil 10 tiene una plataforma movil 8 que tiene dos ruedas accionadas 9 cada una de las cuales con un motor de traccion 2 que puede tener una caja de engranajes opcional, direccion diferencial, y una o mas ruedecillas de soporte 12. Aunque no se muestra en las Figs. 1a y 1b, el robot movil 10 puede tener opcionalmente uno o mas motores de direccion.Fig. 1a shows a side view of an embodiment for a mobile robot with wheels 10 and Fig. 1b shows a bottom view of the mobile robot 10. As shown in these figures, the mobile robot 10 has a mobile platform 8 which has two driven wheels 9 each of which with a traction motor 2 which may have an optional gearbox, differential steering, and one or more supporting wheels 12. Although not shown in Figs. 1a and 1b, the mobile robot 10 may optionally have one or more steering engines.

El motor movil 10 tambien tiene un inversor de accionamiento 5 y una unidad de conmutacion 7 que se muestra montada en un lado en la Fig. 1a, pero que puede estar situada en cualquier lugar en el robot 10. La unidad de conmutacion 7 puede estar integrada en el inversor de accionamiento 5 o en una unidad separada tal como un rele.The mobile motor 10 also has a drive inverter 5 and a switching unit 7 shown mounted on one side in Fig. 1a, but which can be located anywhere in the robot 10. The switching unit 7 can be integrated in drive inverter 5 or in a separate unit such as a relay.

La unidad de conmutacion 7 contiene un tipo de rele de conmutacion que esta considerado para conectarse a las conexiones de accionamiento de un motor tal como el motor 2 o los otros motores descritos mas adelante al inversor de accionamiento 5. Opcionalmente la unidad de conmutacion 7 tambien puede contener un conmutador electromecanico (de tipo rele) o electronico para lmeas de senal entre el motor y el accionamiento de inversor 5. Ejemplos de lmeas de senal son la salida de temperatura de motor, la salida de sensor hall de motor, salida de codificador de motor, salida de tacometro de motor.The switching unit 7 contains a type of switching relay that is considered to be connected to the drive connections of a motor such as motor 2 or the other motors described below to the drive inverter 5. Optionally the switching unit 7 also It may contain an electromechanical (relay type) or electronic switch for signal lines between the motor and the inverter drive 5. Examples of signal lines are the motor temperature output, the motor hall sensor output, encoder output motor, motor tachometer output.

El motor movil 10 tiene ademas, como se muestra en la Fig. 1a, un robot 13 montado en la plataforma movil 8. El robot 13 tiene un brazo 3 que tiene una o mas articulaciones, esto es, mecanismos de accionamiento 6. Unida al extremo del brazo 3 hay una herramienta 14 que puede tener opcionalmente un mecanismo de accionamiento en la union de la herramienta 14 al brazo 3.The mobile engine 10 also has, as shown in Fig. 1a, a robot 13 mounted on the mobile platform 8. The robot 13 has an arm 3 that has one or more joints, that is, drive mechanisms 6. Attached to the end of the arm 3 is a tool 14 that can optionally have a drive mechanism in the union of the tool 14 to the arm 3.

La unidad de conmutacion montada en un lado 7 conecta solo uno de los motores descritos anteriormente a los componentes electrofonicos de energfa (no mostrados) del inversor de accionamiento 5. De este modo, el inversor de accionamiento 5 no alimenta dos o mas de esos motores al mismo tiempo.The switching unit mounted on one side 7 connects only one of the motors described above to the electrophonic power components (not shown) of the drive inverter 5. In this way, the drive inverter 5 does not power two or more of those motors at the same time.

Opcionalmente el inversor de accionamiento 5 puede almacenar conjuntos de parametros y datos de configuracion de dos o mas motores diferentes y puede conmutar entre estos datos durante el tiempo de ejecucion, siempre y cuando el motor conectado no este en movimiento.Optionally, the drive inverter 5 can store sets of parameters and configuration data of two or more different motors and can switch between this data during the runtime, as long as the connected motor is not moving.

Como se muestra en la Fig. 1a, el robot movil 10 que podna estar controlado remotamente tiene montado en el sensores 24 tales como camaras o escaneres laser. Los sensores 24 proporcionan datos para el sistema, o para el operador del robot movil 10 que el operador utiliza en su control remoto de la unidad movil 10.As shown in Fig. 1a, the mobile robot 10 that could be remotely controlled has mounted sensors 24 such as cameras or laser scanners. The sensors 24 provide data for the system, or for the operator of the mobile robot 10 that the operator uses in his remote control of the mobile unit 10.

Haciendo ahora referencia a la Fig. 2a, se muestra otra realizacion en la que hay montada una plataforma movil 8 una plataforma de elevacion 4 en lugar del robot 13. Los elementos que tienen los numeros de referencia en la Fig. 2a que son identicos a los mostrados en las Figs. 1a y 1b tienen la misma funcion que el elemento en las Figs. 1a y 1b y de este modo no tienen que ser descritos aqrn con detalle. En esta realizacion, el inversor de accionamiento 5 es compartido entre los motores de traccion 2 y los motores de otros mecanismos accionados tales como el motor 6 para la plataforma de elevacion 4.Referring now to Fig. 2a, another embodiment is shown in which a mobile platform 8 is mounted a lifting platform 4 instead of the robot 13. The elements having the reference numbers in Fig. 2a that are identical to those shown in Figs. 1a and 1b have the same function as the element in Figs. 1a and 1b and thus do not have to be described here in detail. In this embodiment, the drive inverter 5 is shared between the drive motors 2 and the motors of other driven mechanisms such as the engine 6 for the lift platform 4.

Haciendo ahora referencia a la Fig. 2b, se muestra una realizacion en la que un robot 15 esta montado en la plataforma de elevacion 4 que esta montada en la plataforma movil 8. Los elementos que tienen los numeros de referencia en la Fig. 2b que son identicos a los mostrados en la Fig. 2a tienen la misma funcion que el elemento de la Fig. 2a y de este modo no tienen que ser descritos aqrn con detalle. En esta realizacion, el inversor de accionamiento 5 es compartido entre los motores de traccion 2 y los motores de otros mecanismos accionados tales como el motor 6 para la plataforma de elevacion 4 y los motores para los brazos del robot 15. Se debe apreciar que el inversor 5 puede estar compartido entre tres o mas motores que no son utilizados al mismo tiempo por el uso de la unidad de conmutacion 7b.Referring now to Fig. 2b, an embodiment is shown in which a robot 15 is mounted on the lifting platform 4 that is mounted on the mobile platform 8. The elements having the reference numbers in Fig. 2b which they are identical to those shown in Fig. 2a have the same function as the element of Fig. 2a and thus do not have to be described here in detail. In this embodiment, the drive inverter 5 is shared between the drive motors 2 and the motors of other driven mechanisms such as the motor 6 for the lifting platform 4 and the motors for the robot arms 15. It should be appreciated that the inverter 5 may be shared between three or more motors that are not used at the same time by the use of switching unit 7b.

Haciendo ahora referencia a la Fig. 3, se muestra una realizacion en la que una plataforma movil 16 tiene ruedas u orugas en mecanismos articulados 23 que permiten una mejor movilidad en terreno irregular. En esta realizacion, el inversor de accionamiento 5 es compartido entre el motor 21 del mecanismo articulado 23 y los motores 26 de otrosReferring now to Fig. 3, an embodiment is shown in which a mobile platform 16 has wheels or tracks in articulated mechanisms 23 that allow better mobility in irregular terrain. In this embodiment, the drive inverter 5 is shared between the motor 21 of the articulated mechanism 23 and the motors 26 of others.

55

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mecanismos incorporados. Como se muestra en la Fig. 3, el otro mecanismo incorporado en esta realizacion es una perforadora accionada 25 y los motores 26 mueven la perforadora arriba y abajo y hacia atras y hacia delante como se muestra mediante las flechas en la Fig. 3.built-in mechanisms As shown in Fig. 3, the other mechanism incorporated in this embodiment is a driven drill 25 and the motors 26 move the drill up and down and back and forth as shown by the arrows in Fig. 3.

Haciendo referencia ahora a la Fig. 4, se muestra una realizacion en la que una plataforma movil 17 tiene tres o cuatro ruedas omnidireccionales, esto es , ruedas de mecanum 27 cada una con un motor de traccion 2. Un robot 15 esta montado en la plataforma movil 17. En esta realizacion, los inversores de accionamiento 5 son compartidos entre los motores de otros mecanismos accionados, tales como los motores 6 para los ejes de robot 15.Referring now to Fig. 4, an embodiment is shown in which a mobile platform 17 has three or four omnidirectional wheels, that is, mechanum wheels 27 each with a traction motor 2. A robot 15 is mounted on the mobile platform 17. In this embodiment, the drive inverters 5 are shared between the motors of other driven mechanisms, such as the motors 6 for the robot axes 15.

Haciendo ahora referencia a la Fig. 5, se maestra una realizacion en la que un vehnculo 18 tiene mecanismos con patas 29 para la locomocion. Aunque no se muestra en la Fig. 5, el vehnculo 18 puede tener combinaciones de ruedas y patas para la locomocion en lugar de mecanismos con patas 29. Los elementos que tienen los numeros de referencia en la Fig. 5 que son identicos a los mostrados en las Figs. 1 a 4 tienen la misma funcion que el elemento en la Fig. 1 a 4 y de este modo no tienen que ser descritos aqrn con detalle.Referring now to Fig. 5, an embodiment is taught in which a vehicle 18 has mechanisms with legs 29 for locomotion. Although not shown in Fig. 5, the vehicle 18 may have combinations of wheels and legs for locomotion instead of mechanisms with legs 29. The elements having the reference numbers in Fig. 5 that are identical to those shown in Figs. 1 to 4 have the same function as the element in Fig. 1 to 4 and thus do not have to be described here in detail.

El vehnculo 18 tiene un mecanismo incorporado que es un dispositivo de disparo 19 con una pistola 36, que opcionalmente puede tener un mecanismo de puntena por inclinacion sobre disco 37. La pistola 36 puede disparar una sonda 35 o un sensor (no mostrado). Puede ser necesario disparar o lanzar la sonda 35 o el sensor en o sobre algo que necesite ser monitorizado. Ejemplos son un sensor de vibracion con un iman que se lanza sobre una caja de engranajes para grabar un patron de sonido; o un sensor de oxfgeno que se lanza en una balsa de tratamiento de aguas residuales para controlar la calidad o purificacion; o un termometro con un iman que se lanza sobre una tubena para medir su temperatura.The vehicle 18 has a built-in mechanism that is a firing device 19 with a gun 36, which may optionally have a tilting mechanism on disc 37. The gun 36 can fire a probe 35 or a sensor (not shown). It may be necessary to shoot or launch probe 35 or the sensor on or over something that needs to be monitored. Examples are a vibration sensor with a magnet that is thrown on a gearbox to record a sound pattern; or an oxygen sensor that is launched in a wastewater treatment raft to control the quality or purification; or a thermometer with a magnet that is thrown on a pipe to measure its temperature.

La pistola 36 puede ser disparada con aire a presion, por ejemplo, descargando un deposito de presion 23. El aire es suministrado al deposito de presion 32 mediante un compresor de aire que tiene un motor regulador 31. La sonda 35 es o bien abandonada o bien recuperada con un cordel 34 que es desenrollado en el disparo y se vuelve a enrollar en una polea 33 para su recuperacion. El cordel 34 tambien puede ser utilizado para ofrecer alimentacion de energfa y lmeas de datos a la sonda 35.The gun 36 can be fired with pressurized air, for example, by discharging a pressure reservoir 23. The air is supplied to the pressure reservoir 32 by an air compressor having a regulating motor 31. The probe 35 is either abandoned or well recovered with a string 34 that is unwound in the shot and rewound in a pulley 33 for recovery. The string 34 can also be used to provide power and data lines to the probe 35.

Los cuatro inversores de accionamiento 5 mostrados en la Fig. 5 son compartidos entre el motor 21 del mecanismo articulado 29 y los motores del dispositivo de disparo 19 y el motor 31. Los cuatro inversores de accionamiento 5 pueden accionar o bien el mecanismo articulado 29 que aqrn son cuadro patas, o bien otros motores tales como los utilizados en la bomba, polea, disco, e inclinacion. Esto es solo un ejemplo de muchas otras posibilidades de como los motores comparten los inversores de accionamiento 5.The four drive inverters 5 shown in Fig. 5 are shared between the motor 21 of the articulated mechanism 29 and the motors of the trip device 19 and the motor 31. The four drive inverters 5 can either drive the articulated mechanism 29 which Here they are square legs, or other engines such as those used in the pump, pulley, disc, and inclination. This is just an example of many other possibilities of how motors share drive inverters 5.

Se entendera que la descripcion de la(s) realizacion(es) esta destinada solo a ser ilustrativa, en lugar de exhaustiva, de la presente invencion. Los expertos en la tecnica seran capaces de realizar ciertas adiciones, eliminaciones, y/o modificaciones en la realizacion(es) de la materia objeto descrita sin que se salga del esprntu de la invencion o de su campo, como esta definido en las reivindicaciones adjuntas.It will be understood that the description of the embodiment (s) is intended only to be illustrative, rather than exhaustive, of the present invention. Those skilled in the art will be able to make certain additions, deletions, and / or modifications in the realization (s) of the subject matter described without leaving the spirit of the invention or its field, as defined in the attached claims. .

Claims (15)

55 1010 15fifteen 20twenty 2525 3030 3535 4040 45Four. Five 50fifty REIVINDICACIONES 1. Un vehnculo que comprende al menos un mecanismo accionado (3, 4, 13, 15, 29) que ademas comprende: dos o mas motores electricos (2, 6, 21,26, 31), uno (2) de dichos dos o mas motores utilizados para la locomocion de dicho vehnculo y todos los demas (6, 21, 26, 31) de dichos dos o mas motores utilizados para otros fines distintos de la locomocion de dicho vehnculo, comprendiendo dichos todos los demas (6, 21, 26, 31) de dichos dos o mas motores uno o mas motores electricos conectados a dicho al menos un mecanismo accionado (3, 4, 13, 15, 29) con solo uno de dichos dos o mas motores (2, 6, 21, 26, 31) estando alimentado en un momento dado; y1. A vehicle comprising at least one driven mechanism (3, 4, 13, 15, 29) which further comprises: two or more electric motors (2, 6, 21, 26, 31), one (2) of said two or more engines used for the locomotion of said vehicle and all other (6, 21, 26, 31) of said two or more engines used for purposes other than the locomotion of said vehicle, all others comprising (6, 21 , 26, 31) of said two or more motors one or more electric motors connected to said at least one driven mechanism (3, 4, 13, 15, 29) with only one of said two or more motors (2, 6, 21 , 26, 31) being fed at any given time; Y al menos una unidad inversora de accionamiento (5, 7, 7b) compartida entre dichos dos o mas motores (2, 6, 21, 26, 31) y configurada para proporcionar energfa a dicho solo uno de dichos dos o mas motores (2, 6, 21, 26, 31) en un momento dado, en donde dicha al menos una unidad inversora de accionamiento (5, 7, 7b) esta ademas configurada para almacenar para cada uno de dichos dos o mas motores (2, 6, 21, 26, 31) que no estan accionados en dicho momento dado, un conjunto asociado de parametros y datos de configuracion con el fin de proporcionar datos para controlar el vehnculo.at least one inverter drive unit (5, 7, 7b) shared between said two or more motors (2, 6, 21, 26, 31) and configured to provide power to said only one of said two or more motors (2, 6, 21, 26, 31) at a given time, wherein said at least one inverter drive unit (5, 7, 7b) is also configured to store for each of said two or more motors (2, 6, 21 , 26, 31) that are not activated at that given time, an associated set of parameters and configuration data in order to provide data to control the vehicle. 2. El vehfculo de la reivindicacion 1, en el que dicha al menos una unidad inversora de accionamiento (5, 7, 7b) conmuta entre dicho conjunto asociado almacenado de parametros para cada uno de dichos dos o mas motores (2, 6, 21,26, 31) cuando dicha unidad inversora de accionamiento (5, 7) conmuta entre proporcionar energfa a uno de dichos dos o mas motores (2, 6, 21, 26, 31) a otro de dichos dos o mas motores (2, 6, 21,26, 31).2. The vehicle of claim 1, wherein said at least one inverter drive unit (5, 7, 7b) switches between said associated stored set of parameters for each of said two or more engines (2, 6, 21 , 26, 31) when said inverting drive unit (5, 7) switches between providing power to one of said two or more motors (2, 6, 21, 26, 31) to another of said two or more motors (2, 6, 21,26, 31). 3. El vehfculo de la reivindicacion 1, en el que dicho vehfculo comprende una plataforma movil (8, 16, 17).3. The vehicle of claim 1, wherein said vehicle comprises a mobile platform (8, 16, 17). 4. El vehfculo de la reivindicacion 3, en el que dicha plataforma movil (8) comprende dos ruedas accionadas (9) cada una de las cuales tiene un motor de traccion asociado (2).4. The vehicle of claim 3, wherein said mobile platform (8) comprises two driven wheels (9) each of which has an associated traction engine (2). 5. El vehfculo de la reivindicacion 4, que ademas comprende un robot (13) o una plataforma elevadora (4) montados en dicha plataforma movil (8, 16, 17), teniendo dicho robot (13) un brazo (3) con uno o mas de dichos mecanismos accionados con un motor asociado (6) que recibe energfa de dicha al menos una unidad inversora de accionamiento (5).5. The vehicle of claim 4, which further comprises a robot (13) or a lifting platform (4) mounted on said mobile platform (8, 16, 17), said robot (13) having an arm (3) with one or more of said mechanisms driven by an associated motor (6) that receives energy from said at least one drive inverter unit (5). 6. El vehfculo de la reivindicacion 1, que ademas comprende medios de deteccion visuales (24) configurados para proporcionar datos de deteccion de dicho vehfculo (10, 18), estando dichos medios de deteccion visuales (24) conectados a un control remoto de unidad.6. The vehicle of claim 1, further comprising visual detection means (24) configured to provide detection data of said vehicle (10, 18), said visual detection means (24) being connected to a unit remote control . 7. El vehfculo de la reivindicacion 1, que ademas comprende una unidad de conmutacion (7) montada en dicho vehfculo (10) para conectar con dicha unidad inversora de accionamiento (5) solo ese uno de dichos dos o mas motores (2, 6, 21, 26, 31) que es para recibir energfa de la unidad inversora de accionamiento (5) en dicho momento dado.7. The vehicle of claim 1, further comprising a switching unit (7) mounted on said vehicle (10) for connecting with said inverting drive unit (5) only that one of said two or more motors (2, 6 , 21, 26, 31) which is to receive power from the drive inverter unit (5) at that given time. 8. El vehfculo de la reivindicacion 3, en el que ademas dicha plataforma movil (16) comprende ruedas u orugas en los mecanismos articulados accionados por motor (23) y dicho uno de dichos dos o mas motores electricos (21) utilizados para la locomocion de dicha plataforma movil (16) son dichos motores de accionamiento de mecanismo articulado.8. The vehicle of claim 3, wherein said mobile platform (16) also comprises wheels or tracks in the articulated mechanisms driven by motor (23) and said one of said two or more electric motors (21) used for locomotion. of said mobile platform (16) are said articulated mechanism drive motors. 9. El vehfculo de la reivindicacion 8, que ademas comprende un mecanismo (25) incorporado a dicha plataforma movil (16) y configurado para accionar una herramienta unida, teniendo dicho mecanismo incorporado (25) otros (26) de dichos dos o mas motores para operar dicho mecanismo incorporado (25).9. The vehicle of claim 8, further comprising a mechanism (25) incorporated into said mobile platform (16) and configured to drive a joined tool, said mechanism incorporated (25) having other (26) of said two or more motors to operate said built-in mechanism (25). 10. El vehfculo de la reivindicacion 3, en el que dicha plataforma movil (17) tiene tres o mas ruedas omni- direccionales (27) para la locomocion con cada uno asociado de tres o mas de dichos dos o mas motores (2).10. The vehicle of claim 3, wherein said mobile platform (17) has three or more omnidirectional wheels (27) for locomotion with each associated of three or more of said two or more engines (2). 11. El vehfculo (18) de la reivindicacion 1, que ademas comprende mecanismos con patas (29) para la locomocion, cada uno con un motor asociado.11. The vehicle (18) of claim 1, which further comprises mechanisms with legs (29) for locomotion, each with an associated motor. 12. El vehfculo de la reivindicacion 1, que ademas comprende una combinacion de ruedas y mecanismos con patas (29) para la locomocion cada uno con un motor asociado (2).12. The vehicle of claim 1, further comprising a combination of wheels and mechanisms with legs (29) for locomotion each with an associated motor (2). 13. Un metodo para alimentar electricamente un vehfculo (10, 18) que tiene al menos un mecanismo accionado (3, 4, 13, 15, 29) y dos o mas motores electricos (2, 6, 21, 26, 31) con solo un motor de dichos dos o mas motores (2, 6, 21, 26, 31) alimentados en un momento dado y al menos una unidad inversora de accionamiento (5, 7) se conecta a dichos dos o mas motores (2, 6, 21, 26, 31), comprendiendo dicho metodo:13. A method for electrically feeding a vehicle (10, 18) that has at least one driven mechanism (3, 4, 13, 15, 29) and two or more electric motors (2, 6, 21, 26, 31) with only one motor of said two or more motors (2, 6, 21, 26, 31) fed at a given time and at least one inverter drive unit (5, 7) is connected to said two or more motors (2, 6 , 21, 26, 31), said method comprising: utilizar uno de dichos dos o mas motores para la traccion para dicho vehfculo (10, 18);use one of said two or more engines for traction for said vehicle (10, 18); usar todos los demas de dichos dos o mas motores para funciones distintas de la traccion de dicho vehfculo, comprendiendo todos los demas (6, 21, 26, 31) de dichos dos o mas motores uno o mas motores electricos conectados a dicho al menos un mecanismo accionado (3, 4, 13, 15, 29); yusing all other of said two or more engines for functions other than the traction of said vehicle, all other (6, 21, 26, 31) comprising said two or more engines comprising one or more electric motors connected to said at least one driven mechanism (3, 4, 13, 15, 29); Y compartir entre dichos dos o mas motores electricos (2, 6, 21, 26, 31) dicha al menos una unidad inversora de accionamiento (5, 7) para suministrar ene^a electrica a solo uno de dichos dos o mas motores (2, 6, 21, 26, 31), suministrando dicha al menos una unidad inversora de accionamiento en un momento dado energfa electrica a ese uno de dichos dos o mas motores (2, 6, 21, 26, 31) que esta accionado en dicho momento dado,sharing between said two or more electric motors (2, 6, 21, 26, 31) said at least one inverting drive unit (5, 7) for supplying electric power to only one of said two or more motors (2, 6, 21, 26, 31), said at least one inverter drive unit supplying at one given time electric power to that one of said two or more motors (2, 6, 21, 26, 31) that is driven at that time dice, 5 almacenar para cada uno de dichos dos o mas motores (2, 6, 21, 26, 31) que no esta accionado en dicho momento dado un conjunto asociado de parametros y datos de configuracion con el fin de proporcionar datos; y5 to store for each of said two or more engines (2, 6, 21, 26, 31) that it is not activated at that time given an associated set of parameters and configuration data in order to provide data; Y controlar el vehnculo usando dichos datos.control the vehicle using said data. 14. El metodo de la reivindicacion 13, que comprende ademas:14. The method of claim 13, further comprising: almacenar dichos conjuntos de parametros y datos de configuracion de dos o mas motores diferentes de dichos dos 10 o mas motores (2, 6, 21, 26, 31) conmutando entre los motores durante el tiempo de ejecucion de dicho vehfculo (10, 18), con tal de que cada uno de dichos motores no este en movimiento.storing said sets of parameters and configuration data of two or more different engines of said two 10 or more engines (2, 6, 21, 26, 31) switching between the engines during the execution time of said vehicle (10, 18) , as long as each of these engines is not moving. 15. El metodo de la reivindicacion 13, que comprende ademas:15. The method of claim 13, further comprising: proporcionar medios de deteccion visuales (24) en dicho vehfculo (10, 18) con el fin de proporcionar datos de deteccion de dicho vehfculo (10, 18);providing visual detection means (24) in said vehicle (10, 18) in order to provide detection data of said vehicle (10, 18); 15 controlar remotamente dicho vehfculo (10, 18) utilizando dichos datos de deteccion recibidos de dichos medios de deteccion (24).15 remotely controlling said vehicle (10, 18) using said detection data received from said detection means (24).
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